四足机器人的爬-站运动模式转换研究

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Aiming at the problem that extending the locomotion performance and environmental adaptability of quadruped bionic robot,a method was proposed that combining biologically-inspired trajectory-planning and zero moment point （ZMP） stability controlling to realize a quadruped robot ＂Babybot＂ transition from quadruped to biped locomotion. Firstly, the motion trajectories of the quadruped robot from quadruped to biped locomotion by mimicking human＇s standing-up motion were planned. Secondly, the key postures using static balance principle and muhivariable optimization approach were determined. Finally, transition between of the key postures using ZMP-based linear interpolation was executed, and dynamic simulation of robot from quadruped to biped locomotion was done, dynamic simulations show that the ＂Babybot＂ spends 9.5 seconds to complete the transition from quadruped to bipedal locomotion smoothly. The results indicate that the proposed control method that combining biologically-inspired trajectory-planning and ZMP stability controlling has effect on the transition from quadruped to biped locomotion, and provides a reference for other performance of quadruped robot.为了提高四足仿生机器人的运动协调性和环境适应性，提出了一种基于仿生原理和零力矩点（ZMP）稳定判据的控制方法，实现了四足机器人的爬-站运动模式转换运动。首先，根据正常人由爬姿到站姿的躯干和四肢运动过程，规划了四足机器人“Babybot”爬-站运动模式转换的过程；然后，基于静平衡原则，利用多变量目标函数寻优的方法，确定了机器人爬-站运动模式转换过程中的关键姿态；最后，基于ZMP稳定判据，通过线性插值实现了机器人关键位姿之间的平稳过渡，并对其爬-站运动模式转换进行了动力学仿真，结果显示“Babybot”机器人用时9．5s完成了从四足爬行到双足站立状态的平稳转换。研究结果表明，提出的基于仿生原理和ZMP稳定判据的轨迹规划方法在实现四足仿生机器人爬-站运动模式转换方面具有一定的有效性，也为四足仿生机器人实现高性能运动提供了一定的参考依据。